CN107433373A - Line electrical discharge machining system - Google Patents
Line electrical discharge machining system Download PDFInfo
- Publication number
- CN107433373A CN107433373A CN201710341863.9A CN201710341863A CN107433373A CN 107433373 A CN107433373 A CN 107433373A CN 201710341863 A CN201710341863 A CN 201710341863A CN 107433373 A CN107433373 A CN 107433373A
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- Prior art keywords
- workpiece
- line
- discharge machining
- cut
- fixing device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H7/00—Processes or apparatus applicable to both electrical discharge machining and electrochemical machining
- B23H7/02—Wire-cutting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H1/00—Electrical discharge machining, i.e. removing metal with a series of rapidly recurring electrical discharges between an electrode and a workpiece in the presence of a fluid dielectric
- B23H1/08—Working media
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H1/00—Electrical discharge machining, i.e. removing metal with a series of rapidly recurring electrical discharges between an electrode and a workpiece in the presence of a fluid dielectric
- B23H1/10—Supply or regeneration of working media
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H11/00—Auxiliary apparatus or details, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H11/00—Auxiliary apparatus or details, not otherwise provided for
- B23H11/003—Mounting of workpieces, e.g. working-tables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H7/00—Processes or apparatus applicable to both electrical discharge machining and electrochemical machining
- B23H7/14—Electric circuits specially adapted therefor, e.g. power supply
- B23H7/20—Electric circuits specially adapted therefor, e.g. power supply for programme-control, e.g. adaptive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23H—WORKING OF METAL BY THE ACTION OF A HIGH CONCENTRATION OF ELECTRIC CURRENT ON A WORKPIECE USING AN ELECTRODE WHICH TAKES THE PLACE OF A TOOL; SUCH WORKING COMBINED WITH OTHER FORMS OF WORKING OF METAL
- B23H2500/00—Holding and positioning of tool electrodes
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/40—Robotics, robotics mapping to robotics vision
- G05B2219/40005—Vision, analyse image at one station during manipulation at next station
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of line electrical discharge machining system.The line electrical discharge machining system is configured to fixing device (50), before the assigned position before the machining of the workpiece (W) kept until maintained portion (12), when entering line electro-discharge machining, the cutting position for having carried out line electro-discharge machining for the workpiece (W) that the fixing device (50) is configured in maintaining part (12), and it is adsorbed in the part (W1) cut of workpiece (W) and workpiece remnants part (W2) respectively in location of cut, so as to which the part cut (W1) to be fixed on to remnants part (W2), and robot (20) makes fixing device (50) be adsorbed in respectively on two sides of the part (W1) cut and remnants part (W2).
Description
Technical field
The present invention relates to a kind of line electrical discharge machining system, more specifically to one kind have wire electric discharge machine and
The line electrical discharge machining system of robot, the robot to wire electric discharge machine carry out workpiece replacing, or to processing after
Workpiece or the part that cuts cut from workpiece are checked.
Background technology
As this line electrical discharge machining system, it is known to offline electrical discharge machining system：It include wire electric discharge machine and
Mechanical arm, the wire electric discharge machine have the maintaining part for being used for the workpiece that holding is processed, and the mechanical arm utilizes leading section branch
Hold and cut part on the workpiece of maintained portion holding, machining not long ago, work is fixed in the leading section of mechanical arm
Part cuts part, and cuts part by leading section supporting, is near completion cause in processing so as to prevent from cutting part
Conduct oneself with dignity and fall (for example, referring to patent document 1).
Prior art literature
Patent document
Patent document 1：Japanese Unexamined Patent Application 61-8224 publications
The content of the invention
Invent problem to be solved
In said system, due to machining not long ago, cutting for workpiece is fixed in the leading section of mechanical arm
Part, part is cut by the leading section supporting of mechanical arm, therefore need to make the front end of mechanical arm to chase after always before machining
With the movement of the workpiece for line electro-discharge machining, so as to which the control of mechanical arm becomes complicated.In addition, mechanical arm is set to follow workpiece
It is mobile when, it is also necessary to consider the interference problem between mechanical arm and wire electric discharge machine.
The present invention be in view of so the problem of and complete, its object is to provide a kind of not make mechanical arm follow workpiece
It is mobile just to prevent from cutting the line electrical discharge machining system that part is fallen in the cause deadweight that processing is near completion.
The means solved the problems, such as
In order to solve the above problems, the present invention uses following scheme.
The first aspect of the present invention is a kind of line electrical discharge machining system, including：Maintaining part, for keeping adding by line electric discharge
Work is come the workpiece that is processed；And robot, it carries out the replacing of the workpiece for the maintaining part, line electric discharge adds
The inspection of workpiece after work or the inspection for cutting part cut by the line electro-discharge machining from the workpiece, the line are put
Electric machining system is configured to：With fixing device, and to being held in described in the workpiece progress of the maintaining part
When line electro-discharge machining is untill the assigned position before machining, the fixing device is configured in described in the maintaining part
The cutting position for having carried out the line electro-discharge machining of workpiece, while location of cut has been adsorbed in the workpiece respectively at this
The part cut and the remaining part of the workpiece, so as to which the remaining part is fixed in the part for being cut this, and
The robot makes the fixing device be adsorbed in the part cut and the remaining part respectively.
In the first aspect, fixing device is made to be adsorbed in the part cut and the remnants of workpiece respectively before machining
Part, the part cut is fixed on to remnants part by fixing device, therefore fixing device is adsorbed in workpiece
Robot need not be made to follow the movement of workpiece afterwards.
In the aspect, it is preferable that after the completion of the line electro-discharge machining for the workpiece, make the fixation
Device is only adsorbed in the state of the part cut, and the fixing device is moved to that to cut part defeated by the robot
Send position.
Like this, it is moved to fixing device and cuts part transfer position, so as to the part that will reliably be cut
It is partially separated from the remaining of maintaining part is held in, also, the workpiece after processing can also be realized, be i.e. the place of remaining part
The high efficiency of reason.
In the aspect, it is preferable that also determine to be adsorbed in institute respectively with position determining means, the position determining means
State the allocation position of the fixing device of the part cut and the remaining part.
According to the structure, even for example, the shape in the part cut by line electro-discharge machining is various, or
In the case of machining locus, processing desired trajectory can not be obtained from wire electric discharge machine, the configuration of fixing device can be also determined
Position, so as to be configured to fixing device.
In the aspect, it is preferable that carry out the absorption to the fixing device using magnetic force, attraction.Pass through this
Sample, the absorption of device can to easily and reliably be fixed.
In addition, in the aspect, it is preferable that the position determining means is determined according to the testing result of vision sensor
The allocation position of the fixed fixing device.By using vision sensor, existence range information, the position of processing groove can be obtained
The position etc. of information, line, therefore to easily and reliably the allocation position of fixing device can be determined.
The second aspect of the present invention is a kind of line electrical discharge machining system, and it includes：Maintaining part, for keeping discharging by line
The workpiece for processing to be processed；And robot, it carries out the replacing of the workpiece for the maintaining part, line electric discharge
The inspection of workpiece after processing or the inspection for cutting part cut by the line electro-discharge machining from the workpiece, its
In, line composition is accumulated in the groove of the line electro-discharge machining after dicing, so as to be cut on the workpiece by the line composition
Remnants part is fixed in the part taken.The line electrical discharge machining system is configured to, including：Fixing device, to machining
Preceding assigned position or before machining position, the workpiece for being held in the maintaining part is carried out the line electric discharge plus
Man-hour, the fixing device are configured in the cutting position for having carried out the line electro-discharge machining, while in the location of cut
The part cut and the remaining part are adsorbed in respectively, so that the remnants' be fixed in the part cut
Part；And separative element, it is adsorbed in the part cut and the remaining part respectively in the fixing device
In the state of, the line composition being piled up in the groove is destroyed, makes the part cut and the remaining part point
From, wherein, the robot makes the fixing device be adsorbed in the part cut and the remaining part respectively.
In second aspect, being also configured to robot makes fixing device be adsorbed in workpiece as described above, therefore makes
Fixing device is adsorbed in the movement that robot need not be made to follow workpiece again after workpiece.
Further, since there is separative element, and the separative element is adsorbed in the part cut and remnants in fixing device
The side of part two in the state of, destroy being partially separated for part that the line composition that is piled up in groove makes to be cut and remnants, therefore
It can prevent the part or remnants cut part from being dropped in separation.
The effect of invention
According to the present invention, mechanical arm is followed the movement of workpiece and can prevent that cut part is near completion it in processing
Cause is conducted oneself with dignity and fallen.
Brief description of the drawings
Fig. 1 is the sketch structure figure of the line electrical discharge machining system involved by the first embodiment of the present invention.
Fig. 2 is the figure of the action for the line electrical discharge machining system for representing first embodiment.
Fig. 3 is the figure of the action for the line electrical discharge machining system for representing first embodiment.
Fig. 4 is the figure of the action for the line electrical discharge machining system for representing first embodiment.
Fig. 5 is the figure of the action for the line electrical discharge machining system for representing first embodiment.
Fig. 6 is the top view of the fixing device of first embodiment.
Fig. 7 is the major part front view of the mechanical arm of first embodiment.
Fig. 8 is the general block diagram of the line electrical discharge machining system of first embodiment.
Fig. 9 is the flow chart of one of the action for the robot control unit for representing first embodiment.
Figure 10 is the sketch structure figure of the line electrical discharge machining system involved by second embodiment of the present invention.
Embodiment
The line electrical discharge machining system involved by the first embodiment of the present invention is illustrated with reference to the accompanying drawings.
As shown in figure 1, the line electrical discharge machining system includes wire electric discharge machine 10 and robot 20, the robot 20 has
The mechanical arm 30 changed to the workpiece W of wire electric discharge machine 10.As wire electric discharge machine 10, known line can be used
Discharging processing machine.In addition, the left and right directions (direction parallel with the tread surface of wire electric discharge machine 10, robot 20) by Fig. 1
It is set to X-direction, Fig. 1 depth direction is set to Y-direction, Fig. 1 above-below direction is set to Z-direction, the following explanation of progress.
In the present embodiment, wire electric discharge machine 10 has：Framework 11；The maintaining part 12 of machine table etc., it is supported on
Framework 11；Line supply unit 13, it is supported on framework 11, and is configured in the top of maintaining part 12；Line recoverer 14, it is supported
In framework 11, and it is configured in the lower section of maintaining part 12；And supply unit (not shown), it applies voltage pulse to line A.
There is plane workpiece mounting surface on the top of maintaining part 12, carried using chuck (not shown) to being positioned in workpiece
The peripheral part for putting the workpiece W on face is held, so that workpiece W is fixed in workpiece mounting surface.In addition, in maintaining part 12
Central portion is provided with opening portion 12a, and opening portion 12a runs through maintaining part 12, and the workpiece W portion cut along the vertical direction
Divide W1 configurations on opening portion 12a position.Wire electric discharge machine 10, which also has, is used to that the workpiece W of maintaining part 12 will to be fixed in
The container being immersed in pure water.
Line supply unit 13 includes：By spool 13a that line A is wound, the cunning for being guided to the line A from spool 13a
13b and upper lines guiding piece 13c is taken turns, upper lines guiding piece 13c has the bullport passed through for the line A by pulley 13b.
Line recoverer 14 includes：Spool 14a for reeling line A, for by line A to the spool 14a pulley 14b guided and
Lower line guiding piece 14c, lower line guiding piece 14c have the bullport passed through for the line A before passing through pulley 14b.
The line A of upper lines guiding piece 13c bullport is have passed through, after the position of the workpiece W through in maintaining part 12,
Reclaimed through lower line guiding piece 14c bullport, and by spool 14a.
Here, each bullport has the internal diameter more slightly larger than line A external diameter.In addition, pass through spool 13a, pulley 13b, pulley
14b and spool 14a is to tension force as defined in the line A applications between upper lines guiding piece 13c and lower line guiding piece 14c.Therefore,
Line A can be configured by upper lines guiding piece 13c and lower line guiding piece 14c correct on the workpiece W in maintaining part 12
Position.
In addition, identical with known wire electric discharge machine, upper lines guiding piece 13c can pass through upper guides driving machine
Structure (not shown) moves to X-direction and Y-direction.By the way that so, not only line can be arranged obliquely to the direction parallel with Z-direction axle
A, line A can also be arranged obliquely to X-direction and Y-direction, so that workpiece W cut surface can tilt to X-direction and Y-direction.
Identical with known wire electric discharge machine, maintaining part 12 can be by dish driving mechanism (not shown) to X-direction and Y
Move in direction.By the way that so, workpiece W moves relative to line A along machining locus, a workpiece W part (portion cut is carried out
Point W1) cut.
Robot 20 has pedestal 21.Mechanical arm 30 includes：Base portion 31, it is with can be around vertically extending axis
(about the z axis)) mode of rotation is supported on pedestal 21；Cardinal extremity side arm 32, its with can around general horizontal direction axis rotate
Mode is supported on base portion 31；Front end side arm 33, it in a manner of the axis rotation of general horizontal direction can be supported on cardinal extremity
The front end of side arm 32；And chuck segment 34, it in a manner of the axis rotation of general horizontal direction can be supported on front
The leading section of arm 33.The leading section 34a of chuck segment 34 is configured to relative to base end side and around vertically extending axis
Rotation.It is provided with the front end of chuck segment 34 (lower surface) and for example keeps workpiece W made of iron workpiece to keep machine using magnetic force
Structure 35.
The system of processing of present embodiment also includes being kept by workpiece maintaining body 35 and mobile fixing device made of iron
50.As shown in Fig. 1, Fig. 4, Fig. 6 etc., fixing device 50 has first for example with disc-shape in its lower surface
The adsorption section 52 of adsorption section 51 and second.In the present embodiment, two adsorption sections 51,52 are each with magnetic-adsorption iron, and by
Magnetic force adjustment portion 51a, 52a for being arranged at the upper surface of fixing device 50 controls respective magnetic force, magnetic force adjustment portion 51a, 52a
Such as with bar 51b, 52b etc..Specifically, when each bar 51b, 52b are moved to the side of lock, each 51,52 pairs of adsorption section
Iron is adsorbed, and when each bar 51b, 52b are moved to the side opposite with lock, then each adsorption section 51,52 is changed into not adsorbing iron
State.
As shown in Fig. 4, Fig. 5 etc., when until assigned position advance line electro-discharge machining before machining, fixing device
The 50 workpiece W being configured in maintaining part 12 cutting position for having carried out line electro-discharge machining, and in the cutting position
Place is adsorbed in the workpiece W part W1 cut and remaining part W2 two sides, is thus fixed on the part W1 cut
Remaining part W2.In the present embodiment, the first adsorption section 51 is adsorbed in the part W1 cut, and the second adsorption section 52 is adsorbed
In remnants part W2.
As shown in fig. 7, the upper table being respectively used to the fixing device 50 of holding is additionally provided with workpiece maintaining body 35
Two lever operating devices 36,37 that bar 51b, the 52b in face are operated.Lever operating device 36,37 is configured to fill by fixed
When putting 50 and being held in workpiece maintaining body 35, lever operating device 36,37 is for example in the X direction engaging in each bar 51b, 52b, simultaneously
For example moved respectively by motor 36a, 37a in Y-direction.By so, switch each 51,52 pairs of iron in adsorption section absorption and
Release.
Mechanical arm 30 includes：Servomotor 31a for rotating base 31, the servo electricity for rotating cardinal extremity side arm 32
Motivation 32a, the servomotor 33a for pivot head side arm 33, the servo of the front end side arm 33 for revotating card pan portion 34
Motor 34b and leading section 34a for revotating card pan portion 34 servomotor 34c.
As shown in figure 8, each motor 31a, 32a, 33a, 34b, 34c, 36a, 37a and workpiece of mechanical arm 30 keep machine
Structure 35 is connected with robot control unit 40, and is controlled by robot control unit 40.
On the other hand, dish driving mechanism and upper guides drive mechanism and the machining control portion 15 of wire electric discharge machine 10
It is connected, and carries out according to the instruction in machining control portion 15 movement of the X-direction and Y-direction to maintaining part 12 or to top
The movement of line guiding piece 13c X-direction and Y-direction.
Robot 20 also includes the vision sensor 22 controlled by robot control unit 40.As shown in Figure 1, in this reality
Apply in mode, vision sensor 22 is supported on the framework 11 of wire electric discharge machine 10, but can also be supported on mechanical arm 30.
As shown in figure 8, there is vision sensor 22 camera device 22a and processing unit 22b, camera device 22a to be used to clap
The workpiece W taken the photograph in maintaining part 12.Image procossing is carried out to the image photographed by camera device 22a by processing unit 22b, and will
Information based on the image after processing is sent to robot control unit 40, and robot control unit 40 will be received based on after processing
The information of image be saved in storage arrangement 41.
Processing unit 22b is for implementing to the image photographed known in static binary conversion treatment, Dynamic Binarization processing etc.
Image procossing, and by after processing image store into image storage part 22c.Processing unit 22b has CPU, memory
Computer, described image processing is carried out according to the regulated procedure of storage in memory.Processing unit 22b can also be by after processing
Image be used as the information based on the image after processing to be sent to robot control unit 40 in itself, can also be by after processing
The position of the existence range information of the processing groove showed in image, positional information or line A is as described based on the figure after processing
The information of picture is sent to robot control unit 40.In either case, the information based on the image after processing is all can
Determine the use of the information for the position that line A is processed.In the present embodiment, image after processing is used as in itself described based on place
The information of image after reason is sent to robot control unit 40.
Robot control unit 40 is operated by the program being stored in storage arrangement 41, control each motor 31a,
32a, 33a, 34b, 34c, 36a, 37a are come by mechanical arm 30, by the workpiece W before processing, the workpiece lay down location before processing is moved to
Maintaining part 12, by the workpiece W after processing from maintaining part 12 be moved to processing after workpiece lay down location.The flow chart of reference picture 9 is to this
When the example of action of robot control unit 40 illustrate.
The instruction that operator starts to input unit input processing for example (not shown), when robot control unit 40 receives this
During command signal (step S1), robot control unit 40 controls each motor 31a, 32a, 33a, 34b, 34c, 36a, 37a, makes to add
Workpiece W before the work workpiece lay down location before processing is moved to maintaining part 12 (step S2).At this point it is possible in workpiece maintaining body 35
In the state of keeping fixing device 50, adsorbed using 51,52 pairs of each adsorption section workpiece W of fixing device 50, so as to add
Workpiece W before the work workpiece lay down location before processing is moved to maintaining part 12.On the other hand, can also be in workpiece maintaining body 35 not
In the state of being kept to fixing device 50, using workpiece maintaining body 35, by the workpiece W before processing, the workpiece before processing is put
The place of putting is moved to maintaining part 12.In the present embodiment, the former situation is illustrated.In addition, upon step s 2, by machine
Tool arm 30 is moved to defined position of readiness.
Then, robot control unit 40 sends Machining Instruction (step to the machining control portion 15 of wire electric discharge machine 10
S3).By the way that so, wire electric discharge machine 10 starts to cut the workpiece W in maintaining part 12 along defined track.And
And shooting sign on is sent to vision sensor 22, camera device 22a is imaged (step S4) at intervals of set time.
By so, the image after reception processing, and the image after the processing received at intervals of set time of robot control unit 40
It is saved in storage arrangement 41.
Next, it is determined that whether the Working position of the line A in image after the processing received reaches the rule before machining
Positioning is put (step S5).When the Working position in step S5 reaches assigned position, to the machining control of wire electric discharge machine 10
Portion 15 sends processing halt instruction (step S6).For example, as shown in figure 3, refer in the processing stopping of transmission not long ago machined
Order.
Now, it is preferable that robot control unit 40 determines answering for fixing device 50 using the image after the processing received
Installation site and posture.For example, in the situation for the existence range that processing groove as shown in Figure 3 can be known from the image after processing
Under, the part W1 cut can be carried out using the first adsorption section 51 in the cutting position that line electro-discharge machining will have been carried out
What the position stably supported was set to fixing device 50 answers installation site.In addition, can not be from adding even in robot control unit 40
, also can be based on the image after processing in the case that the grade of work control unit 15 obtains the information of processing desired trajectory of line electro-discharge machining
The position of centre of gravity of part W1 to being cut estimates, therefore is favourable stably supporting the part W1 this respects that are cut
's.
Then, as shown in Fig. 2 controlling each motor 31a, 32a, 33a, 34b, 34c, make to be held in workpiece maintaining body 35
The first adsorption section 51 of fixing device 50 contacted with the part W1 cut of the workpiece W in maintaining part 12, the second adsorption section
52 contact (step S7) with remnants part W2, also, control each motor 36a, 37a to make the first adsorption section 51 and the second absorption
Portion 52 is adsorbed in the part W1 cut and remaining part W2 (step S8) respectively.
Then, holding (step S9) of the workpiece maintaining body 35 to fixing device 50 is released, mechanical arm 30 is moved to rule
Fixed position of readiness (step S10).By so, as shown in figure 4, being fixed in workpiece W state as fixing device 50.
Then, processing is sent to the machining control portion 15 of wire electric discharge machine 10 to restart to instruct (step S11).By
This, as shown in figure 5, line A, which is moved to, machines position, workpiece W line electro-discharge machining is completed.
For example, when machining signal (step S12) of line electro-discharge machining completion is represented when machining control portion 15 receives,
As shown in fig. 6, controlling each motor 31a, 32a, 33a, 34b, 34c, make the upper table of workpiece maintaining body 35 and fixing device 50
Face contacts (step S13), also, keeps fixing device 50 (step S14) using workpiece maintaining body 35.
Then, motor 37a is controlled, the absorption of the second adsorption section 52 is released (step S15), by so, turning into
The state only adsorbed by fixing device 50 to the part W1 cut.
In this condition, each motor 31a, 32a, 33a, 34b, 34c are controlled, by the part W1 cut movements and is loaded
To defined conveying place (step S16), also, each motor 31a, 32a, 33a, 34b, 34c, 36a, 37a are controlled, make processing
The remaining part W2 of workpiece W afterwards from maintaining part 12 be moved to processing after workpiece lay down location (step S17), terminate workpiece W
Processing operation.
In addition, in step S15~S17, the part W1 cut and remaining part are being adsorbed using fixing device 50
In the state of W2 two sides, the part W1 cut and remaining part W2 two sides are moved to workpiece lay down location after processing,
And workpiece lay down location releases the absorption of the part W2 to remnants after processing, add so as to can also be moved to remnants part W2
Workpiece lay down location after work.
So, according to present embodiment, fixing device 50 is made to be adsorbed in the workpiece W part cut before machining
W1 and remaining part W2 two sides, so that the part W1 cut is fixed on remnants part W2.Therefore, make admittedly
Determine device 50 to be adsorbed in after workpiece W until in the time before machining, it is not necessary to make mechanical arm 30 follow workpiece W shifting
It is dynamic.
Herein, it is preferable that after the completion of online electro-discharge machining, the part W1's for making fixing device 50 only be adsorbed in be cut
Under state, it is moved to fixing device 50 by mechanical arm 30 and cuts the transfer position of part.So, by making fixing device 50
The transfer position for cutting part is moved to, can be reliably by the part W1 cut from being held in the remaining of maintaining part 12
Part W2 is separated.Also, the high efficiency of the remaining part W2 of the workpiece W after can also realizing as processing processing.
In addition, determined using the information based on image after processing for adsorbing the part W1's cut and remnants respectively
The allocation position of part W2 fixing device 50, even thus, for example, the part W1 cut by line electro-discharge machining shape
Various, or can not be obtained from wire electric discharge machine 10 machining locus, processing desired trajectory in the case of, also can
The allocation position of fixing device 50 is determined, so as to be configured to fixing device 50.
In addition, the existence range information of the acquisition processing groove of vision sensor 22, its positional information and line A position can be utilized
Put, therefore the decision of the allocation position of device 50 can to easily and reliably be fixed.
In addition, in step s 12, robot control unit 40 can also be utilized based on the processing received from vision sensor 22
The information of image afterwards, whether line electro-discharge machining is completed to judge.
In addition, in step s 5, robot control unit 40 can also receive machining locus, processing from machining control portion 15 in advance
The information that can know machining locus and machined scope of fixed track, machined track etc., it can also be judged according to the information
Working position reaches assigned position.
Alternatively, it is also possible to without step S6.That is, it can also be added on one side using wire electric discharge machine 10
Work, fixing device 50 is installed on workpiece W in the step s 7 on one side.
Alternatively, it is also possible to without step S15.In this case, the part that is cut is being adsorbed using fixing device 50
In the state of W1 and remaining part W2 two sides, the part W1 cut and remaining part W2 are moved in step s 16
To defined conveying place, therefore only the absorption of the first adsorption section 51 is released from.Afterwards, will be adsorbed on using mechanical arm 30
The remaining part W2 of fixing device 50 is moved to workpiece lay down location after processing.
Alternatively, it is also possible to which each adsorption section 51,52 of fixing device 50 is configured to adsorb work using the attraction of air
The part W part W1 cut and remaining part W2.In this case, in each adsorption section 51,52 using magnetic-adsorption iron
Position on, be provided as respectively adsorption section be used for attract the suction hole of air.In addition, instead of each magnetic force adjustment portion 51a,
52a, and it is respectively arranged to the open and close valve for opening and closing each suction hole.Also, respectively by opening in two suction holes
Valve closing connects one end of air suction tube, and the other end of each air suction tube is connected with air suction device.
Below, reference picture 10 illustrates to the system of processing involved by second embodiment of the present invention.
Present embodiment is relative to the difference of first embodiment：By wire electric discharge machine 10 to workpiece W
When being processed, workpiece W phenomenon is attached to using line composition, attachment is piled up in workpiece W processing groove, so as to be cut
The part W1 taken is fixed on remnants part W2.Pair structure same with first embodiment, add identical reference
To represent that simultaneously the description thereof will be omitted.
In the present embodiment, following processing is carried out instead of step S15~S16 of first embodiment.In this reality
Apply in mode, after keeping fixing device 50 using workpiece maintaining body 35 in the step S14 of first embodiment, make to be cut
The part W1 that takes and remaining part W2 be moved to as defined in conveying place, in the place, by the part W1 cut and residual
Remaining part W2 is placed in disk 60.
Due to fixing the part W1 cut and remaining part W2 by the accumulation of line composition, therefore in order to release this
Fixed, in the state of disk 60 is placed in, fixing device 50 adsorbs the part W1 cut and remaining part W2, example respectively
Percussion hammer portion such as is set in the front end of the drive device of other robots, by the percussion hammer portion to the part W1 that is for example cut
Apply impulsive force.Drive device with the percussion hammer portion is as the separation for separating the part cut W1 with remnants part W2
Unit plays function.Also, can also be in the state of the part W1 cut and remaining part W2 be placed in disk 60
Apply the impulsive force.
The part W1 cut is separated with remnants part W2 using impulsive force, but fixing device 50 is due to being difference
The part W1 cut and remaining part W2 state are adsorbed in, therefore part W1, the remnants portion cut can be prevented
W2 is divided to drop.
Also, before the above-mentioned processing of present embodiment is carried out, can also omit the step S5 of first embodiment~
S14.In this case, received after the step S4 in first embodiment from machining control portion 15 and represent line electro-discharge machining
Completed when machining signal, robot control unit 40 determines to install fixed dress using image after the processing received
50 position, the posture of fixing device 50 is put, and in the position fixing device for installing 50.Now, adsorb the first adsorption section 51
In the part W1 cut, the second adsorption section 52 is set to be adsorbed in remnants part W2.Afterwards, as described above, make to be cut
Part W1 and remnants part W2 be moved to together with fixing device 50 as defined in conveying place, pass through the drive with percussion hammer portion
Dynamic device separates the part W1 cut with remnants part W2.In this case, the part cut can also be prevented
W1 and remaining part W2 drop.
Also, after the step S5~S17 in the present embodiment, eliminating first embodiment, it can also utilize
In the state of the part W1 cut after processing and remaining part W2 are placed in disk 60 by other output devices, machine is utilized
Tool arm 30 makes the first adsorption section 51 of fixing device 50 be adsorbed in the part W1 cut, the second adsorption section 52 is adsorbed in remnants
Part W2, using the drive device with percussion hammer portion by the part W1 cut with remnants part W2 separate.In the feelings
Under condition, the part W1 and remaining part W2 that can also prevent from being cut drop.
In addition, in the first and second embodiments, robot 20 can change workpiece W to wire electric discharge machine 10,
The inspection for the workpiece W that can enter after line electro-discharge machining, the inspection for cutting part cut from workpiece W can also be carried out.
Description of reference numerals
10：Wire electric discharge machine
11：Framework
12：Maintaining part
13：Line supply unit；
13c：Upper lines guiding piece
14：Line recoverer
14c：Lower line guiding piece
15：Machining control portion
20：Robot
22：Vision sensor
30：Mechanical arm
35：Workpiece maintaining body
36：Lever operating device
37：Lever operating device
40：Robot control unit
41：Storage arrangement
50：Fixing device
51：First adsorption section
52：Second adsorption section
Claims (7)
1. a kind of line electrical discharge machining system, including：Maintaining part, for keeping by line electro-discharge machining the workpiece that is processed；
And robot, it carries out the replacing of the workpiece for the maintaining part, the workpiece after the line electro-discharge machining
The inspection for cutting part for checking or being cut by the line electro-discharge machining from the workpiece, the line electrical discharge machining system
It is configured to：
With fixing device, the line electro-discharge machining is carried out until processing in the workpiece to being held in the maintaining part
During into untill preceding assigned position, the workpiece that the fixing device is configured in the maintaining part has carried out the line
The cutting position of electro-discharge machining, and the location of cut be adsorbed in respectively the workpiece the part cut and
The remaining part of the workpiece, so as to which the part cut is fixed on into the remaining part,
The robot makes the fixing device be adsorbed in the part cut and the remaining part respectively.
2. line electrical discharge machining system according to claim 1, it is characterised in that
After the completion of the line electro-discharge machining to the workpiece, the portion cut is adsorbed in only making the fixing device
In the state of point, the robot is moved to the fixing device to cut part transfer position.
3. line electrical discharge machining system according to claim 1 or 2, it is characterised in that
Also include position determining means, the position determining means is determined for being adsorbed in the part cut and institute respectively
State the allocation position of the fixing device of remnants part.
4. the line electrical discharge machining system according to any one of claims 1 to 3, it is characterised in that
The absorption of the fixing device is carried out using magnetic force.
5. the line electrical discharge machining system according to any one of claims 1 to 3, it is characterised in that
The absorption of the fixing device is carried out using attraction.
6. line electrical discharge machining system according to claim 3, it is characterised in that
The position determining means determines the allocation position of the fixing device according to the testing result of vision sensor.
7. a kind of line electrical discharge machining system, including：
Maintaining part, for keeping by line electro-discharge machining the workpiece that is processed；And
Robot, it carries out the replacing of the workpiece for the maintaining part, the workpiece after the line electro-discharge machining
The inspection for cutting part for checking or being cut by the line electro-discharge machining from the workpiece,
Wherein, line composition is accumulated in the groove of the line electro-discharge machining after dicing, so that will be in the work by the line composition
Remnants part is fixed in the part cut on part,
The line electrical discharge machining system is configured to, and is had：
Fixing device, it carries out the line electro-discharge machining until machining in the workpiece to being held in the maintaining part
Preceding assigned position or when untill machining position, the fixing device, which is configured to, has carried out the line electro-discharge machining
Cutting position, and the part cut and the remaining part are adsorbed in respectively in the location of cut, by
The remaining part is fixed in the part cut by this；And
Separative element, it is adsorbed in two sides of the part cut and the remaining part in the fixing device respectively
In the state of, destroy and be piled up in the line composition in the groove, so as to by the part cut and the remaining portion
Separation,
Wherein, the robot makes the fixing device be adsorbed in the part cut and the remaining part respectively.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2016103925A JP6464115B2 (en) | 2016-05-25 | 2016-05-25 | Wire electrical discharge machining system |
| JP2016-103925 | 2016-05-25 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107433373A true CN107433373A (en) | 2017-12-05 |
| CN107433373B CN107433373B (en) | 2020-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710341863.9A Active CN107433373B (en) | 2016-05-25 | 2017-05-16 | Wire electric discharge machining system |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US10780513B2 (en) |
| JP (1) | JP6464115B2 (en) |
| CN (1) | CN107433373B (en) |
| DE (1) | DE102017208372B4 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016120132A1 (en) * | 2016-10-21 | 2018-04-26 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Workpiece collection unit and method for supporting the machining of workpieces |
| JP6915288B2 (en) * | 2017-02-08 | 2021-08-04 | オムロン株式会社 | Image processing system, image processing device, circuit reconstruction method in FPGA (Field Programmable Gate Array), and circuit reconstruction program in FPGA |
| JP6542832B2 (en) * | 2017-04-28 | 2019-07-10 | ファナック株式会社 | Wire electrical discharge machine, wire electrical discharge system and jig |
| US11579582B2 (en) | 2019-09-27 | 2023-02-14 | Pratt & Whitney Canada Corp. | Methods and systems for wire electric discharge machining and validation of parts |
| US11554433B2 (en) | 2019-09-27 | 2023-01-17 | Pratt & Whitney Canada Corp. | Methods and systems for wire electric discharge machining and validation of parts |
| TW202124088A (en) * | 2019-12-19 | 2021-07-01 | 眾鼎橡膠工業股份有限公司 | Method for using vacuum suction in wire cutting to prevent workpiece from falling and wire breakage in which suction holding is applied to two opposite surfaces of a parent cut workpiece on two opposite sides of a cut workpiece to prevent the workpiece from detaching and falling off the parent cut workpiece |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP2017209746A (en) | 2017-11-30 |
| JP6464115B2 (en) | 2019-02-06 |
| US20170341172A1 (en) | 2017-11-30 |
| CN107433373B (en) | 2020-01-10 |
| DE102017208372B4 (en) | 2020-11-05 |
| DE102017208372A1 (en) | 2017-11-30 |
| US10780513B2 (en) | 2020-09-22 |
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